14 accepted papers
We introduce RoboEval, a structured evaluation framework and benchmark for robotic manipulation that augments binary success with principled behavioral and outcome metrics. Existing evaluations often collapse performance into outcome counts, masking differences in execution quality and obscuring fai…
Imitation learning has proven effective for training robots to perform complex tasks from expert human demonstrations. However, it remains limited by its reliance on high-quality, task-specific data, restricting adaptability to the diverse range of real-world object configurations and scenarios. In …
In warehouse environments, robots require robust picking capabilities to manage a wide variety of objects. Effective deployment demands minimal hardware, strong generalization to new products, and resilience in diverse settings. Current methods often rely on depth sensors for structural information,
Robotic manipulation systems operating in diverse, dynamic environments must exhibit three critical abilities: multitask interaction, generalization to unseen scenarios, and spatial memory. While significant progress has been made in robotic manipulation, existing approaches often fall short in gene…
Bimanual manipulation is challenging due to precise spatial and temporal coordination required between two arms. While there exist several real-world bimanual systems, there is a lack of simulated benchmarks with a large task diversity for systematically studying bimanual capabilities across a wide
Warehouse robotic systems equipped with vacuum grippers must reliably grasp a diverse range of objects from densely packed shelves. However, these environments present significant challenges, including occlusions, diverse object orientations, stacked and obstructed items, and surfaces that are diffi
In this research, we introduce a novel approach to the challenge of suction grasp point detection. Our method, exploiting the strengths of physics-based simulation and data-driven modeling, accounts for object dynamics during the grasping process, markedly enhancing the robot's capability to handle…
Segmentation and tracking of unseen object instances in discrete frames pose a significant challenge in dynamic industrial robotic contexts, such as distribution warehouses. Here, robots must handle object rearrangements, including shifting, removal, and partial occlusion by new items, and track the…
Mobile manipulation tasks require a seamless integration of navigation and manipulation capabilities. Finding suitable robot placements to pick up and place objects in such tasks is crucial for time-efficient task execution. Sub-optimal robot placements result in infeasible solutions or require larg
The ability to detect failure during task execution and to recover from failure is vital for autonomous robots performing tasks in previously unknown environments. In this paper, we present an approach for failure detection during the execution of grasping and mobile manipulation tasks by a humanoid…
Increasing the robustness of grasping actions and the recovery from failure is key to improving a robot’s autonomy. Endowing robots with the ability to robustly grasp and manipulate unknown difficult objects such as stones is required for sample collection in unknown environments. In this paper, we…
Reliable execution of robot manipulation actions in cluttered environments requires that the robot is able to understand relations between objects and reason about consequences of actions applied to these objects. We present an approach for extracting physically plausible support relations between o
To increase the autonomy of humanoid robots, the visual perception must support the efficient collection and interpretation of visual scene cues by providing task-dependent information. Active vision systems allow to extend the observable workspace by employing active gaze control, i.e. by shifting…
We propose a formalism for the hierarchical representation of affordances. Starting with a perceived model of the environment consisting of geometric primitives like planes or cylinders, we define a hierarchical system for affordance extraction whose foundation are elementary power grasp affordances…